JP5839104B2 - 車両の旋回特性推定装置 - Google Patents

車両の旋回特性推定装置 Download PDF

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Publication number
JP5839104B2
JP5839104B2 JP2014500843A JP2014500843A JP5839104B2 JP 5839104 B2 JP5839104 B2 JP 5839104B2 JP 2014500843 A JP2014500843 A JP 2014500843A JP 2014500843 A JP2014500843 A JP 2014500843A JP 5839104 B2 JP5839104 B2 JP 5839104B2
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Japan
Prior art keywords
value
vehicle
estimated
yaw rate
turning
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Active
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JP2014500843A
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English (en)
Japanese (ja)
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JPWO2013125047A1 (ja
Inventor
尚大 横田
尚大 横田
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Toyota Motor Corp
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Toyota Motor Corp
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability
    • B60W30/045—Improving turning performance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17551—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve determining control parameters related to vehicle stability used in the regulation, e.g. by calculations involving measured or detected parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18145—Cornering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • B60W40/114—Yaw movement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/12—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to parameters of the vehicle itself, e.g. tyre models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • B60W2050/0054—Cut-off filters, retarders, delaying means, dead zones, threshold values or cut-off frequency
    • B60W2050/0055—High-pass filters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/14—Yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/02—Control of vehicle driving stability

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
JP2014500843A 2012-02-24 2012-02-24 車両の旋回特性推定装置 Active JP5839104B2 (ja)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2012/054657 WO2013125047A1 (ja) 2012-02-24 2012-02-24 車両の旋回特性推定装置

Publications (2)

Publication Number Publication Date
JPWO2013125047A1 JPWO2013125047A1 (ja) 2015-07-30
JP5839104B2 true JP5839104B2 (ja) 2016-01-06

Family

ID=49005259

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2014500843A Active JP5839104B2 (ja) 2012-02-24 2012-02-24 車両の旋回特性推定装置

Country Status (5)

Country Link
US (1) US9604636B2 (de)
EP (1) EP2818378B1 (de)
JP (1) JP5839104B2 (de)
CN (1) CN104136290B (de)
WO (1) WO2013125047A1 (de)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107107913A (zh) * 2015-03-11 2017-08-29 宝马股份公司 用于确定单辙车辆位置的方法以及用于实施该方法的装置

Families Citing this family (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9604636B2 (en) * 2012-02-24 2017-03-28 Toyota Jidosha Kabushiki Kaisha Turning characteristic estimating device for vehicle
JP6478318B2 (ja) * 2014-12-25 2019-03-06 株式会社Ｓｕｂａｒｕ 車両運動パラメータ推定装置
DE102015005023B4 (de) * 2015-04-20 2021-08-05 Audi Ag Verfahren zur Verbesserung des Anlenkverhaltens bei Kraftfahrzeugen mit Überlagerungslenkung an der Vorderachse
CN108025745B (zh) * 2015-12-22 2020-09-01 马自达汽车株式会社 车辆的控制装置
JP6578212B2 (ja) * 2016-01-08 2019-09-18 Ntn株式会社 車両の旋回制御装置
CN113460055B (zh) * 2021-06-11 2022-05-31 吉林大学 在线的车辆行驶控制区域划分及区域边界估计方法
JPWO2023013105A1 (de) 2021-08-02 2023-02-09
CN116238588B (zh) * 2022-12-22 2024-09-03 东风越野车有限公司 智能汽车导航角跟随识别控制方法、电子设备和存储介质

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3829934B2 (ja) 2002-06-27 2006-10-04 トヨタ自動車株式会社 車輌の旋回特性推定装置
JP2004026074A (ja) * 2002-06-27 2004-01-29 Toyota Motor Corp 車輌の旋回特性推定装置
JP2005008067A (ja) * 2003-06-19 2005-01-13 Toyota Motor Corp 車輌の旋回特性推定装置
JP4228792B2 (ja) * 2003-06-19 2009-02-25 トヨタ自動車株式会社 車輌の旋回特性推定装置
EP2380795B1 (de) * 2009-01-13 2019-09-11 Toyota Jidosha Kabushiki Kaisha Fahrzeugzustandsschätzungsvorrichtung
JP2010253978A (ja) * 2009-04-21 2010-11-11 Toyota Motor Corp 車両制御装置
WO2011036820A1 (ja) 2009-09-24 2011-03-31 トヨタ自動車株式会社 車両の旋回特性推定装置
US8744686B2 (en) * 2009-09-24 2014-06-03 Toyota Jidosha Kabushiki Kaisha Device for estimating turning characteristic of vehicle
WO2013088580A1 (ja) * 2011-12-16 2013-06-20 トヨタ自動車株式会社 車両のスタビリティファクタ推定装置
US9604636B2 (en) * 2012-02-24 2017-03-28 Toyota Jidosha Kabushiki Kaisha Turning characteristic estimating device for vehicle

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107107913A (zh) * 2015-03-11 2017-08-29 宝马股份公司 用于确定单辙车辆位置的方法以及用于实施该方法的装置
CN107107913B (zh) * 2015-03-11 2019-04-09 宝马股份公司 用于确定单辙车辆位置的方法以及用于实施该方法的装置
US10670403B2 (en) 2015-03-11 2020-06-02 Bayerische Motoren Werke Aktiengesellschaft Method for determining a position of a single-track vehicle and device for carrying out the method

Also Published As

Publication number Publication date
JPWO2013125047A1 (ja) 2015-07-30
WO2013125047A1 (ja) 2013-08-29
US9604636B2 (en) 2017-03-28
EP2818378B1 (de) 2020-07-29
US20150291156A1 (en) 2015-10-15
EP2818378A4 (de) 2016-04-27
EP2818378A1 (de) 2014-12-31
CN104136290A (zh) 2014-11-05
CN104136290B (zh) 2017-07-04

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